Motorcycle providing visual light warning to detected vehicles to notify detected vehicles of presence of motorcycle

ABSTRACT

A motorcycle comprising: a lighting system including a plurality of lamps, each of which is configured to illuminate a different region of a plurality of regions relative to the motorcycle; one or more imaging assemblies, each of which includes an image sensor configured to generate image data; and a controller in communication with each of the plurality of lamps that receives as input the image data that the image sensor from each of the one or more imaging assemblies generates, analyzes the image data, detects a vehicle from the image data, and activates whichever lamp of the plurality of lamps that illuminates the region of the plurality of regions that is closest to the vehicle to provide a visual warning to the vehicle of the motorcycle.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims priority to and the benefit under 35 U.S.C. §119(e) of U.S. Provisional Application No. 62/824,623, filed on Mar. 27,2019, entitled “MOTORCYCLE PROVIDING VISUAL LIGHT WARNING TO DETECTEDVEHICLES TO NOTIFY DETECTED VEHICLES OF PRESENCE OF MOTORCYCLE,” thedisclosure of which is hereby incorporated herein by reference in itsentirety.

FIELD OF THE DISCLOSURE

The present disclosure generally relates to a motorcycle, and moreparticularly to a motorcycle with one or more lamps emitting lighttoward a nearby vehicle detected through image analysis to providevisual warning to the nearby vehicle that the motorcycle is nearby.

BACKGROUND

Operators of vehicles driving near a motorcycle sometimes do not noticethat the motorcycle is present. In a highway traffic scenario, anoperator of a vehicle may veer towards the motorcycle while attemptingto change lanes, potentially contacting the motorcycle. In anotherscenario, an operator of a vehicle in a driveway may back out or pullout of the driveway while the motorcycle is driving towards the drivewayon a street adjacent to the driveway, again potentially contacting themotorcycle.

SUMMARY OF THE DISCLOSURE

The present disclosure solves that problem by capturing image data of anexternal environment near the motorcycle using an imaging assembly onthe motorcycle, analyzing the image data with a controller to determinewhether a vehicle is near the motorcycle, and causing a lamp to emitlight toward the vehicle to provide a visual warning to the operator ofthe vehicle that the motorcycle is present. The visual warning increasesthe likelihood that the operator of the vehicle will notice themotorcycle before directing the vehicle toward the motorcycle in apotentially unsafe manner.

According to one aspect of the present disclosure, a motorcyclecomprises: a lighting system including a plurality of lamps, each ofwhich is configured to illuminate a different region of a plurality ofregions relative to the motorcycle; one or more imaging assemblies, eachof which includes an image sensor configured to generate image data; anda controller in communication with each of the plurality of lamps thatreceives as input the image data that the image sensor from each of theone or more imaging assemblies generates, analyzes the image data,detects a vehicle from the image data, and activates whichever lamp ofthe plurality of lamps that illuminates the region of the plurality ofregions that is closest to the vehicle to provide a visual warning tothe vehicle of the motorcycle.

In embodiments, the plurality of lamps comprises: a forward-right lampconfigured to illuminate a forward-right region that is forward and tothe right of the motorcycle; a forward-left lamp configured toilluminate a forward-left region that is forward and to the left of themotorcycle; a rearward-right lamp configured to illuminate arearward-right region that is rearward and to the right of themotorcycle; and a rearward-left lamp configured to illuminate arearward-left region that is rearward and to the left of the motorcycle.

In embodiments, the one or more imaging assemblies includes: a forwardimaging assembly with a field of view that is generally forward of themotorcycle; and a rearward imaging assembly with a field of view that isgenerally rearward of the motorcycle.

In embodiments, the controller analyzes the image data from the imagesensor of the forward imaging assembly, detects the vehicle from theimage data, and activates whichever of the forward-left lamp or theforward-right lamp that illuminates the region of the plurality ofregions that is closest to the vehicle. In embodiments, the controlleranalyzes the image data from the image sensor of the rearward imagingassembly, detects the vehicle from the image data, and activateswhichever of the rearward-right lamp or the rearward-left lamp thatilluminates the region of the plurality of regions that is closest tothe vehicle.

In embodiments, the controller analyzes the image data and detects thevehicle from the image data using an image processing algorithm thatidentifies a signature of a light emission from a headlight or ataillight of the vehicle. In embodiments, the controller analyzes theimage data from the forward imaging assembly and detects the vehiclefrom the image data using the image processing algorithm that identifiesthe signature of the light emission from the taillight of the vehicle,and activates whichever of the forward-left lamp or the forward-rightlamp that illuminates the region of the plurality of regions that isclosest to the vehicle. In embodiments, the controller analyzes theimage data from the rearward imaging assembly and detects the vehiclefrom the image data using the image processing algorithm that identifiesthe signature of the light emission from the headlight of the vehicle,and activates whichever of the rearward-right lamp or the rearward-leftlamp illuminates the region of the plurality of regions closest to thevehicle.

In embodiments, the image sensor includes a pixel array with X-Ycoordinates. In embodiments, the controller further determines aposition of the vehicle relative to the motorcycle by determining theX-Y coordinates of the vehicle on the pixel array.

In embodiments, the controller causes the lamp of the plurality of lampsto emit light continuously or in a blinking manner during a period oftime while the controller detects the vehicle and the region of theplurality of regions that the lamp illuminates is the region of theplurality of regions that is closest to the vehicle. In embodiments, thecontroller determines that the vehicle is veering toward the motorcycleand causes the lamp to illuminate the region in a blinking manner. Inembodiments, the controller determines that the vehicle is veeringtoward the motorcycle by identifying a pixel shift in the X-Ycoordinates of the vehicle on the pixel array over a plurality of imageframes, and causes the lamp to illuminate the region in a blinkingmanner.

According to another aspect of the present disclosure, a motorcyclecomprises: a midline; a lighting system including a lamp that ispositionable to emit light from an angular position within a range ofangular positions relative to the midline of the motorcycle; an imagingassembly including an image sensor configured to generate image data,and having a field of view that encompasses the range of angularpositions from which the lamp can be positioned to emit light; and acontroller in communication with the lamp that receives as input theimage data that the image sensor of the imaging assembly generates,analyzes the image data, detects a vehicle from the image data, andactivates the lamp and adjusts the angular position of the lamp to emitthe light toward the vehicle to provide a visual warning to the vehicleof the motorcycle.

In embodiments, the image sensor includes a pixel array with X-Ycoordinates and a centerline extending from a base pixel through thepixel array. In embodiments, the controller further determines the X-Ycoordinates of the vehicle on the pixel array, determines an angulardeviation of the vehicle from the centerline of the pixel array, andadjusts the angular position of the lamp relative to the midline of themotorcycle to match the angular deviation of the vehicle from thecenterline of the pixel array.

In embodiments, the lamp is positionable to emit the light rearward ofthe motorcycle. In embodiments, the motorcycle further comprises arearward lamp of the lighting system that is positionable to emit lightrearward of the motorcycle and from an angular position within a rangeof angular positions relative to the midline of the motorcycle. Inembodiments, the field of view of the imaging assembly is rearward ofthe motorcycle. In embodiments, the motorcycle further comprises arearward imaging assembly including an image sensor configured togenerate image data, and having a field of view that is rearward of themotorcycle and encompasses the range of angular positions from which therearward lamp can be positioned to emit light, the image sensor of therearward imaging assembly including a pixel array with X-Y coordinatesand a centerline extending from a base pixel through the pixel array. Inembodiments, the controller analyzes the image data and detects thevehicle with an image processing algorithm that identifies a signatureof a light emission from a headlight of the vehicle that is rearward ofthe motorcycle, with the X-Y coordinates of the light emission from theheadlight being the X-Y coordinates of the vehicle. In embodiments, thecontroller (i) is in further communication with the rearward lamp, (ii)receives as input the image data that the image sensor of the rearwardimaging assembly generates, (iii) analyzes the image data from the imagesensor of the rearward imaging assembly, (iv) detects a rearward vehiclefrom the image data with an image processing algorithm that identifies asignature of a light emission from a headlight of the rearward vehicle,(v) determines the X-Y coordinates of the rearward vehicle on the pixelarray of the image sensor of the rearward imaging assembly, with the X-Ycoordinates of the light emission from the headlight being the X-Ycoordinates of the rearward vehicle, (vi) determines an angulardeviation of the rearward vehicle from the centerline of the pixel arrayof the image sensor of the rearward imaging assembly, (vii) adjusts theangular position of the rearward lamp to match the angular deviation ofthe rearward vehicle from the centerline of the pixel array of the imagesensor of the rearward imaging assembly, and (viii) activates therearward lamp to emit the light toward the rearward vehicle to provide avisual warning to the rearward vehicle of the motorcycle.

In embodiments, the lamp is positionable to emit light forward of themotorcycle. In embodiments, the field of view of the imaging assembly isforward of the motorcycle. In embodiments, the controller analyzes theimage data and detects the vehicle with an image processing algorithmthat identifies a signature of a light emission from a taillight of thevehicle that is forward of the motorcycle, with the X-Y coordinates ofthe light emission from the taillight being the X-Y coordinates of thevehicle.

In embodiments, the controller continuously analyzes the image data, andcontinuously adjusts the angular position of the lamp as a function ofthe image data while the controller detects the vehicle from the imagedata, so that the emitted light from the lamp stays directed toward thevehicle. In embodiments, the controller causes the lamp to emit light ina blinking manner if the controller determines that the vehicle ismoving closer to the motorcycle by identifying a pixel shift in the X-Ycoordinates of the vehicle over a plurality of image frames.

In embodiments, the controller analyzes the image data with aconvolutional neural network machine-learned image recognition algorithmto detect the vehicle and location of the vehicle relative to themotorcycle.

These and other features, advantages, and objects of the presentdisclosure will be further understood and appreciated by those skilledin the art by reference to the following specification, claims, andappended drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

In the drawings:

FIG. 1 is a front perspective view of a motorcycle, illustrating alighting system including a forward-right lamp that is fixed and aforward lamp that is positionable to emit light forward of themotorcycle, a forward imaging assembly to capture images forward of themotorcycle, and a controller that controls the lighting system based onimage data from the forward imaging assembly in order to provide avisual warning to a vehicle near the motorcycle;

FIG. 2 is a rear perspective view of the motorcycle of FIG. 1 ,illustrating the lighting system further including a rearward-right lampthat is fixed and a rearward positionable lamp, and a rearward imagingassembly to capture images rearward of the motorcycle;

FIG. 3 is an overhead view of the motorcycle of FIG. 1 , illustratingthe lighting system with additional lamps including a forward-left lampand a rearward-left lamp that are fixed, each positioned to illuminatedifferent regions relative to the motorcycle, the forward imagingassembly having a field of view that is generally forward of themotorcycle, and the rearward imaging assembly having a field of viewthat is generally rearward of the motorcycle;

FIG. 4 is a very simplified schematic diagram of an image sensor, whichboth the forward imaging assembly and the rearward imaging assemblyseparately include, illustrating the image sensor having a pixel arrayof pixels, including a base pixel, arranged in an X-Y coordinate gridarrangement having a centerline from the base pixel roughly dividing thepixel array into two halves;

FIG. 5 is a schematic diagram of the controller of FIG. 1 , illustratingthe controller controlling the lamps of the lighting system as afunction of image data input provided by the imaging assemblies;

FIG. 6 is a hypothetical forward field of view and image frame of theforward imaging assembly of FIG. 1 , illustrating a vehicle on a rightside of the field of view having a taillight that is a particularangular deviation away from a centerline of the field of view and thus amidline of the motorcycle;

FIG. 7 is a hypothetical rearward field of view and image frame of therearward imaging assembly of FIG. 2 , illustrating a vehicle on theright side of the field of view having a headlight that is a particularangular deviation away from a centerline of the field of view and thusthe midline of the motorcycle;

FIG. 8 is an overhead view of the motorcycle of FIG. 1 meldingconceptually the fields of view of FIGS. 6 and 7 , illustrating thecontroller causing the forward-right lamp and/or the forwardpositionable lamp to illuminate in the direction of the angulardeviation α toward the vehicle forward of the vehicle, and causing therearward-left lamp and/or the rearward positionable lamp to illuminatein the direction of angular deviation β toward the vehicle rearward ofthe vehicle, in order to provide a visual warning to the vehicles of themotorcycle to reduce the likelihood of the vehicles veering toward themotorcycle;

FIG. 9 is a hypothetical field of view and image frame of the forwardimaging assembly of FIG. 1 , illustrating a vehicle on a right side ofthe field of view in a driveway adjacent to a road that the motorcycleis on; and

FIG. 10 is an overhead view of the motorcycle of FIG. 1 showing thescenario of the field of view of FIG. 9 , illustrating the controllercausing the forward-right lamp and/or the forward positionable lamp toilluminate in the direction toward the vehicle in the driveway, in orderto provide a visual warning to the vehicle to reduce the likelihood ofthe vehicle backing out into the road before the motorcycle passes thevehicle.

DETAILED DESCRIPTION

The present illustrated embodiments reside primarily in combinations ofmethod steps and apparatus components related to a motorcycle 10 with alighting system 12 providing visual warning to vehicles 40 detectedthrough image analysis that the motorcycle 10 is nearby. Accordingly,the apparatus components and method steps have been represented, whereappropriate, by conventional symbols in the drawings, showing only thosespecific details that are pertinent to understanding the embodiments ofthe present disclosure so as not to obscure the disclosure with detailsthat will be readily apparent to those of ordinary skill in the arthaving the benefit of the description herein. Further, like numerals inthe description and drawings represent like elements.

It is to be understood that the disclosure may assume variousalternative orientations, except where expressly specified to thecontrary. It is also to be understood that the specific devices andprocesses illustrated in the attached drawings, and described in thefollowing specification, are simply exemplary embodiments of theinventive concepts defined in the appended claims. Hence, specificdimensions and other physical characteristics relating to theembodiments disclosed herein are not to be considered as limiting,unless the claims expressly state otherwise.

The terms “including,” “comprises,” “comprising,” or any other variationthereof, are intended to cover a non-exclusive inclusion, such that aprocess, method, article, or apparatus that comprises a list of elementsdoes not include only those elements but may include other elements notexpressly listed or inherent to such process, method, article, orapparatus. An element preceded by “comprises a . . . ” does not, withoutmore constraints, preclude the existence of additional identicalelements in the process, method, article, or apparatus that comprisesthe element.

Referring to FIGS. 1-3 , a motorcycle 10 includes a lighting system 12.The lighting system 12 can include a headlight 14. The headlight 14 isconfigured to illuminate a forward region 16 relative to the motorcycle10. The lighting system 12 further includes a plurality of lamps 18 a-18d to illuminate a plurality of regions 20 a-20 d relative to themotorcycle 10. For example, the illustrated embodiment includes: (i) aforward-right lamp 18 a configured to illuminate the region 20 a forwardand to the right of the motorcycle 10; (ii) a forward-left lamp 18 bconfigured to illuminate the region 20 b forward and to the left of themotorcycle 10; (iii) a rearward-right lamp 18 c configured to illuminatethe region 20 c rearward and to the right of the motorcycle 10; and (iv)the rearward-left lamp 18 d configured to illuminate the region 20 drearward and to the left of the motorcycle 10. In some embodiments, someof the regions 20 may overlap. The lighting system 12 can include lessor more lamps 18 configured to illuminate additional or differentregions 20 relative to the motorcycle 10. In the illustrated embodiment,the lamps 18 a-18 d are fixed in position to illuminate regions 20 a-20d that are approximately diagonally away from the motorcycle 10 andtoward potential blind spot areas of nearby vehicles 40. The motorcycle10 further includes a midline 68. A forward-to-rearward vertical planeextends through the midline 68 and conceptually divides the motorcycleinto two approximately symmetrical halves.

The motorcycle 10 further includes one or more imaging assemblies 22. Inthe illustrated embodiment, the one or more imaging assemblies 22include a forward imaging assembly 22 a and a rearward imaging assembly22 b, each of which includes an image sensor 24 (FIG. 4 ) that isconfigured to generate image data. Both the forward imaging assembly 22a and the rearward imaging assembly 22 b direct light onto theirrespective image sensor 24. The forward imaging assembly 22 a is forwarddirected. The rearward imaging assembly 22 b is rearward directed. Eachimage sensor 24, when powered, generates and outputs image data. Theimage data corresponds to a field of view 26 a, 26 b captured by theimage sensors 24, respectively. The field of view 26 a is generallyforward of the motorcycle 10. The field of view 26 b is generallyrearward of the motorcycle 10. In other words, the forward imagingassembly 22 a has a field of view 26 a that is generally forward of themotorcycle, and the rearward imaging assembly 22 b has a field of view26 b that is generally rearward of the motorcycle. In some embodiments,the motorcycle 10 includes only the forward imaging assembly 22 a or therearward imaging assembly 22 b. In other embodiments, the motorcycle 10includes additional or differently directed imaging assemblies 22, suchas imaging assemblies 22 with field of views 26 generally matching theregions 20 of illumination of the plurality of lamps 18. Example imagesensors include a complementary metal oxide semiconductor (CMOS) imagesensor, for example a CMOS active-pixel sensor (APS) or a charge coupleddevice (CCD).

Referring now to FIG. 4 , which is a simplified illustration, each imagesensor 24 includes a pixel array 28 on a circuit board 30. Each of thepixels of the pixel array 28 may correspond to a photo-sensor, an arrayof photo-sensors, or any grouping of sensors configured to capturelight. The pixel array 28 can be arranged in an X-Y grid, such as a gridof 3840 pixels in the X-direction and 2160 pixels in the Y-direction,from which X-Y coordinates of a pixel or grouping of pixels can bedetermined. The image sensor 24 may output data in either analog ordigital form. In addition to the pixel array 28, the image sensor 24 caninclude various circuits, converters, amplifiers, among other things, asknown in the art.

Referring now additionally to FIG. 5 , the motorcycle 10 furtherincludes a controller 32. The controller 32 receives as input the imagedata that the image sensors 24 generate. The controller 32 includes aprocessor 34 that processes the image data that the image sensors 24generate. The processor 34 can be a plurality of processors, a multicoreprocessor, or any combination of processors, circuits, and peripheralprocessing devices. The controller 32 further includes memory 36. Thememory 36 may correspond to various forms of memory, for example, randomaccess memory (RAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), andother forms of memory configured to store information. The memory 36 maybe configured to store the image data and programs (e.g., algorithms)that the processor 34 utilizes to analyze the image data as describedherein.

Referring now additionally to FIGS. 6 and 7 , the controller 32 is incommunication with each of the plurality of lamps 18 (such as lamps 18a-18 d) and the image sensor 24 of each of the one or more imagingassemblies 22 (such as imaging assemblies 22 a, 22 b). The controller 32receives as input the image data that the image sensor 24 of each of theone or more imaging assemblies 22 (such as imaging assemblies 22 a, 22b) generates. The controller 32 controls activation and deactivation ofeach of the plurality of lamps 18 (such as lamps 18 a-18 d) separately,as a function of the image data, particularly the image data from theforward imaging assembly 22 a of the field of view 26 a demonstrating aforward scene 38 a generally forward of the motorcycle 10 (FIG. 6 ), andthe image data from the rearward imaging assembly 22 b of the field ofview 26 b demonstrating a rearward scene 38 b generally rearward of themotorcycle 10 (FIG. 7 ), for the purpose of warning vehicles 40 in thefields of view 26 a, 26 b of the motorcycle 10. Vehicles 40 a-40 c areillustrated as example vehicles 40. The controller 32 analyzes the imagedata, detects a vehicle 40 (or vehicles 40) from the image data, andthen activates whichever of the plurality of lamps 18 (such as one ormore of lamps 18 a-18 d) that illuminates the region 20 a-20 d (orregions 20 a-20 d) closest to the vehicle 40 (or vehicles 40) to providea targeted visual warning to the vehicle 40 (or vehicles 40) of themotorcycle 10. The controller 32 can utilize one or more imageprocessing algorithms stored in the memory 36 and processed by theprocessor 34 to identify the vehicle 40 (or vehicles 40) from the imagedata.

In embodiments, the controller 32 analyzes the image data from the imagesensor 24 of the forward imaging assembly 22 a, detects the vehicle 40from the image data, and activates whichever of the forward-left lamp 18b or the forward-right lamp 18 a that illuminates the region 20 of theplurality of regions 20 a-20 d that is closest to the vehicle 40. Forexample, in reference to FIG. 6 , the controller 32 analyzes the imagedata from the image sensor 24 of the forward imaging assembly 22 a,detects the vehicle 40 a from the image data, and activates theforward-right lamp 18 a because the forward-right lamp 18 a illuminatesthe region 20 a and the region 20 a is closer to the vehicle 40 a thanthe region 20 b that the forward-left lamp 18 b illuminates.

In embodiments, the controller 32 analyzes the image data from the imagesensor 24 of the rearward imaging assembly 22 b, detects the vehicle 40from the image data, and activates whichever of the rearward-right lamp18 c or the rearward-left lamp 18 d that illuminates the region 20 ofthe plurality of regions 20 a-20 d that is closest to the vehicle 40.For example, in reference to FIG. 7 , the controller 32 analyzes theimage data from the image sensor 24 of the rearward imaging assembly 22b, detects the vehicle 40 c from the image data, and activates therearward-left lamp 18 d because the rearward-left lamp 18 d illuminatesthe region 20 d and the region 20 d is closer to the vehicle 40 c thanthe region 20 c that the rearward-right lamp 18 c illuminates.

In embodiments, such as during nighttime and other low ambient lightingconditions, the controller 32 analyzes the image data and detects thevehicle 40 using an image processing algorithm that identifies asignature of a light emission from a headlight 42 or a taillight 44 ofthe vehicle 40. Detection of such a signature allows for the assumptionthat the vehicle 40 is near the motorcycle 10. An ambient light sensor46 (FIGS. 1, 5 ) can provide input concerning the ambient light level tothe controller 32, for the controller 32 to determine whether it isnighttime or a low ambient lighting condition (such as below thresholdlux values, e.g., 20 lux).

In embodiments, the controller 32 analyzes image data from the imagesensor 24 of the forward imaging assembly 22 a and detects the vehicle40 from the image data using the image processing algorithm thatidentifies the signature of the light emission from the taillight 44 ofthe vehicle 40, and activates whichever of the forward-left lamp 18 b orthe forward-right lamp 18 a that illuminates the region 20 of theplurality of regions 20 a-20 d that is closest to the vehicle 40. Inother words, the controller 32 using the image processing algorithmanalyzes the image data of the forward scene 38 a forward of themotorcycle 10 from the image sensor 24 of the forward imaging assembly22 a for the signature of the light emission from the taillight 44 ofthe vehicle 40. For example, in reference to FIG. 6 , the controller 32analyzes image data from the image sensor 24 of the forward imagingassembly 22 a of forward scene 38 a forward of the motorcycle 10 anddetects the vehicle 40 a from the image data using the image processingalgorithm the signature of the light emission from the taillight 44 ofthe vehicle 40, and activates the forward-right lamp 18 a thatilluminates the region 20 a because region 20 a is closest to thevehicle 40.

In embodiments, the controller 32 analyzes image data from the imagesensor 24 of the rearward imaging assembly 22 b and detects the vehicle40 from the image data using the image processing algorithm thatidentifies the signature of the light emission from the headlight 42 ofthe vehicle 40, and activates whichever of the rearward-left lamp 18 dor the rearward-right lamp 18 c that illuminates the region 20 of theplurality of regions 20 a-20 d that is closest to the vehicle 40. Inother words, the controller 32 using the image processing algorithmanalyzes the image data of the rearward scene 38 b rearward of themotorcycle 10 from the image sensor 24 of the rearward imaging assembly22 b for the signature of the light emission from the headlight 42 ofthe vehicle 40. For example, in reference to FIG. 7 , the controller 32analyzes image data from the image sensor 24 of the rearward imagingassembly 22 b of rearward scene 38 b rearward of the motorcycle 10 anddetects the vehicle 40 c from the image data using the image processingalgorithm that identifies the signature of the light emission from theheadlight 42 of the vehicle 40, and activates the rearward-left lamp 18d that illuminates the region 20 d because region 20 d is closest to thevehicle 40.

In embodiments, for vehicles 40 forward of the motorcycle 10 (FIG. 5 )(e.g., vehicles 40 a, 40 b), the image processing algorithm searches forthe presence of light emissions from the taillights 44 of the vehicle(s)40 forward of the motorcycle 10 representative of the vehicle(s) 40 andtraveling in the same general direction as the motorcycle 10, to theexclusion of oncoming vehicles 40 with headlights 42. In embodiments,for vehicles 40 rearward of the motorcycle 10 (FIG. 6 ) (e.g., vehicle40 c), the image processing algorithms search for the presence of lightemissions from the headlights 42 of the vehicle(s) 40 rearward of themotorcycle 10 representative of the vehicle(s) 40 and traveling in thesame general direction as the motorcycle 10, to the exclusion of passedvehicles 40 with taillights 44. The forward directed imaging assembly 22a and the rearward imaging assembly 22 b can include a color filter toassist in properly discriminating headlamps from tail lamps using theirrespective image sensor 24.

The forward scene 38 a of the field of view 26 a is exposed onto thepixel array 28 of the image sensor 24 of the imaging assembly 22 a, andthe rearward scene 38 b of the field of view 26 b is exposed onto thepixel array 28 of the image sensor 24 of the imaging assembly 22 b. Eachpixel of the pixel array 28 produces an output signal that isrepresentative of the illumination sensed by each pixel. This outputsignal may be in analog, which can be converted to a digital gray scalevalue (such as 8 bit, with a value between 0 and 255). The image sensor24 associated with the forward imaging assembly 22 a should be justsensitive enough to image the taillight 44 emissions of the vehicle 40(e.g., vehicles 40 a, 40 b) at the maximum distance for which a lightemission warning from the motorcycle 10 to the vehicle 40 would berelevant (such as 15 feet). The image sensor 24 associated with therearward imaging assembly 22 b should be just sensitive enough to imagethe headlight 42 emissions of the vehicle 40 (e.g., vehicle 40 c) at themaximum distance for which a light emission warning from the motorcycle10 to the vehicle 40 would be relevant (such as 15 feet). Such a lowsensitivity reduces the likelihood of the controller 32 interpretingimages of light reflecting off signs and reflectors as headlights 42 ortaillights 44 as the case may be.

In embodiments, an individual pixel or group of pixels of the pixelarray 28 has a location on the pixel array 28 that is identified by Xand Y coordinates, with the 0,0 pixel location corresponding to a topleft pixel, which can correspond to the top left of the forward scene 38a or rearward scene 38 b as the case may be. Beginning with the 0,0pixel and raster scanning through the pixel array 28, each pixel iscompared to a minimum threshold, which dictates the faintest light thatis of interest. If the current pixel is below the minimum threshold andit is not the last pixel of the pixel array 28, then the analysisproceeds to the next pixel. The raster scanning can be pixel-by-pixel tothe right in the X-direction, and then dropping down one row in theY-direction and beginning again with the left most pixel in theX-direction.

If the current pixel value is greater than the minimum threshold, then aseed fill analysis algorithm is entered in which the size, brightness,and other parameters of the identified light source are determined. Theseed fill algorithm is used to identify the pixels of the image sensor24 associated with a common light source, and thus identify associatedpixels meeting a pixel criteria. This can be accomplished by identifyingcontiguous pixels exceeding their respective threshold levels. If nolight source is detected, the analysis of the image data terminates. Theanalysis is continuous during operation of the motorcycle 10 and isrepeated with the generation of new image data.

The controller 32 can determine the average X-Y coordinates of thepixels imaging a light source (representing the center of the lightsource and therefore representing the vehicle 40), the sum of the grayscale values of all the pixels representing the light source, the numberof pixels representing the light source, among other variables. The sumof the gray scale values of all the pixels representing the light sourceis an indication of the “brightness” of the light source, from which therelative color of the light source can be determined.

This is relevant to the forward scene 38 a, because the controller 32 isanalyzing the image data to find red taillights 44 of the vehicles 40rather than the whiter and “brighter” headlights 42 of oncoming vehicles40. Thus, if the sum of the gray scale values of all the pixelsrepresenting the light source is above a predetermined threshold, thenthe light source is disregarded as not possibly representing a redcolored taillight 44.

It is also relevant to the rearward scene 38 b, because the controller32 is analyzing the image data to find the whiter and “brighter”headlights of trailing vehicles 40 rather than the red and less “bright”taillights 44 of vehicles 40 having passed the motorcycle 10 andtraveling in the opposite direction. Thus, if the sum of the gray scalevalues of all the pixels representing the light source is below apredetermined threshold, then the light source is disregarded as notpossibly representing a bright, not-red, headlight 42.

If the controller 32 determines from the image data that the forwardscene 38 a has illuminated taillight(s) 44 from one or more vehicles 40,the controller 32 determines a general location of the taillight(s) 44.As mentioned, the controller 32 determines the X-Y coordinate for thelight source on the pixel array 28. The pixel array 28 from the forwardimaging assembly 22 a represents the forward scene 38 a. Thus, thedetermined X-Y coordinate for the light source on the pixel array 28 isthe position of the light source of the forward scene 38 a. Likewise,the determined X-Y coordinate of the light source is an approximation ofthe location of the light source relative to the motorcycle 10, and thusan approximation of the location of the vehicle 40 relative to themotorcycle 10.

The controller 32 then determines which of the plurality of lamps 18a-18 d (the headlight 14 is assumed to already be activated during lowambient light) illuminates most toward the position of the taillight 44.As an example, in the forward scene 38 a illustrated at FIG. 6 , thetaillights 44 of the vehicle 40 a are generally to the right side 48 ofthe forward scene 38 a, and because the forward-right lamp 18 a ispositioned to illuminate the region 20 a, which is forward and to theright of the motorcycle 10, the controller 32 activates theforward-right lamp 18 a to provide a warning to the vehicle 40 a thatthe motorcycle 10 is nearby. If the forward scene 38 a were flipped, andthe taillights 44 of the vehicle 40 a were generally to the left side 50of the forward scene 38 a, then the controller 32 would activate theforward-left lamp 18 b (as positioned to illuminate the region 20 b,which is forward and to the left of the motorcycle 10), to provide awarning to the vehicle 40 a that the motorcycle 10 is nearby. Providinga visual warning to the vehicle 40 a may lessen the likelihood that theoperator of the vehicle 40 a does not recognize the motorcycle 10 andveer 52 (FIG. 8 ) toward the motorcycle 10.

If the controller 32 determines from the image data that the rearwardscene 38 b has illuminated headlight(s) 42 from one or more vehicles 40(e.g., vehicle 40 c), the controller 32 determines a general location ofthe headlight(s) 42. As mentioned, the controller 32 determines the X-Ycoordinate for the light source on the pixel array 28 of the imagesensor 24 of the rearward imaging assembly 22 b. The pixel array 28represents the rearward scene 38 b. Thus, the determined X-Y coordinatefor the light source on the pixel array 28 is the position of the lightsource of the rearward scene 38 b. In other words, the controller 32determines the position of the vehicle 40 relative to the motorcycle 10by determining the X-Y coordinates of the vehicle 40 on the pixel array28, such as the headlight 42 or taillight 44 of the vehicle 40. Moredetails concerning identifying light sources from image data is detailedat U.S. Pat. No. 6,611,610 (Aug. 26, 2003), the entirety of which isdisclosed herein by reference.

The controller 32 then determines which of the lamps 18 illuminates mosttoward the position of the headlight 42. As an example, in the rearwardscene 38 b illustrated at FIG. 7 , the headlights 42 of the vehicle 40 care generally to the right side 54 of the rearward scene 38 b, andbecause the rearward-left lamp 18 d is positioned to illuminate theregion 20 d toward the vehicle 40 c, the controller 32 activates therearward-left lamp 18 d to provide a warning to the vehicle 40 c thatthe motorcycle 10 is nearby. If the rearward scene 38 b were flipped,and the headlight(s) 42 of the vehicle 40 c were generally to the leftside 56 of the rearward scene 38 b, then the controller 32 wouldactivate the rearward-right lamp 18 c (as positioned to illuminate theregion 20 c toward the vehicle 40 c), to provide a warning to thevehicle 40 c that the motorcycle 10 is nearby. Providing a visualwarning to the vehicle 40 c may lessen the likelihood that the operatorof the vehicle 40 c does not recognize the motorcycle 10 and veer 58(FIG. 8 ) toward the motorcycle 10.

Referring back to FIGS. 1, 2, and 6 , in embodiments, the lightingsystem 12 of the motorcycle 10 includes a positionable forward lamp 60that is positionable to emit light forward of the motorcycle 10 from anangular position within a range of angular positions 62, and apositionable rearward lamp 64 that is positionable to emit lightrearward of the motorcycle from an angular position within a range ofangular positions 66, relative to a midline 68 of the motorcycle 10. Inembodiments, the positionable forward lamp 60 and the positionablerearward lamp 64 can each rotate about an axis to emit light from anangular position within the ranges of angular positions 62, 66,respectively relative to the midline 68 of the motorcycle 10. Thecontroller 32 controls the angular position of the lamps 60, 64, such asthrough control of a direct current (DC) motor coupled to each of thelamps 60, 64, as well as activation and deactivation of the lamps 60,64. In embodiments, the forward imaging assembly 22 a has the field ofview 26 a that encompasses the angular range of positions 62 from whichthe positionable forward lamp 60 can be positioned to emit light. In anembodiment, the rearward imaging assembly 22 b has the field of view 26b that encompasses the angular range of positions 66 from which thepositionable rearward lamp 64 can be positioned to emit light.

Referring now additionally to FIG. 8 , the controller 32, afterdetecting the vehicle 40 from the image data from the forward imagingassembly 22 a, as described above, activates the positionable forwardlamp 60 and adjusts the angular position of the positionable forwardlamp 60 to emit the light toward the vehicle 40 to provide a visualwarning to the vehicle 40 of the motorcycle 10. Alternatively oradditionally, the controller 32, after detecting the vehicle 40 from theimage data from the rearward imaging assembly 22 b, as described above,activates the positionable rearward lamp 64 and adjusts the angularposition of the positionable rearward lamp 64 to emit the light towardthe vehicle 40 to provide a visual warning to the vehicle 40 of themotorcycle 10.

In embodiments, when the controller 32 detects a vehicle 40 from theimage data, the controller 32 further (i) determines the X-Y coordinatesof the vehicle 40 on the pixel array 28, (ii) determines the angulardeviation α, β of the vehicle 40 from a centerline 67 of the pixel array28, and (iii) adjusts the angular position of the positionable forwardlamp 60 or positionable rearward lamp 64 relative to the midline 68 ofthe motorcycle 10 to match the angular deviation α, β of the vehicle 40from a centerline 67 of the pixel array 28. For example, when thecontroller 32 identifies a signature of a light emission of a taillight44 forward of the motorcycle 10 from the image data from the forwardimaging assembly 22 a, the controller 32, as mentioned, can determinethe center point of the signature on the X-Y coordinates of the pixelarray 28, which corresponds to the forward scene 38 a. The X-Ycoordinates of the center point of the signature can be assumed to bethe X-Y coordinates of the vehicle 40, of which the taillight 44 is apart. The controller 32 then determines the angular deviation α of thecenter point of the signature. The angular deviation α is a deviationfrom a centerline 67 of the pixel array 28 (and thus of the forwardscene 38 a, and thus of the midline 68 of the motorcycle 10) thatextends from a base pixel 69 representing the center of the pixel array28 closest to the motorcycle 10. The controller 32 then rotates thepositionable forward lamp 60 to the angular position of the range ofangular positions 62 that matches the angular deviation α and causes thepositionable forward lamp 60 to emit light 70, which warns the operatorof the vehicle 40 a that the motorcycle 10 exists. The warning reducesthe likelihood that the vehicle 40 a will veer 52 into the motorcycle10, or toward the motorcycle 10, or in the direction of travel of themotorcycle 10.

As another example, when the controller 32 identifies a signature of alight emission of a headlight 42 rearward of the motorcycle 10 from theimage data from the rearward imaging assembly 22 b, the controller 32,as mentioned, can determine the center point of the light source on theX-Y coordinates of the pixel array 28, which corresponds to the forwardscene 38 a. The X-Y coordinates of the center point of the signature canbe assumed to be the X-Y coordinates of the vehicle 40, of which theheadlight 42 is a part. The controller 32 then determines the angulardeviation β of the center point of the signature. The angular deviationβ is a deviation from a centerline 72 of the pixel array 28 (and thus ofthe rearward scene 38 b, and thus of the midline 68 of the motorcycle10) that extends from a base pixel 74 representing the center of thepixel array 28 closest to the motorcycle 10. The controller 32 thenrotates the positionable rearward lamp 64 to the same angular deviationβ from the midline 68 of the motorcycle 10 and causes the positionablerearward lamp 64 to emit light 76, which warns the operator of thevehicle 40 c that the motorcycle 10 exists. The warning reduces thelikelihood that the vehicle 40 c will veer 58 into the motorcycle 10, ortoward the motorcycle 10, or in the direction of travel of themotorcycle 10.

In embodiments, the controller 32 causes one or more of the plurality oflamps 18 a-18 d to emit light toward the vehicle 40, as the case may be,continuously or in a blinking manner, during the period of time whilethe controller 32 detects the vehicle 40 from the image data. Becausethe position of the vehicle 40 moves relative to the motorcycle 10 as afunction of time, the controller 32 continuously reevaluates the imagedata to determine the location of the vehicle 40 relative to themotorcycle 10. As the controller 32 continuously reevaluates the imagedata, the controller 32 activates the lamp 18 of the plurality of lamps18 a-18 d that illuminates the region 20 of the plurality of regions 20a-20 d that is closest to the vehicle 40. In embodiments where themotorcycle 10 includes the positionable lamps 60, 64, the controller 32further continuously adjusts the angular position of the positionablelamps 60, 64 based on the continuously determined location of thevehicle 40. Thus, the light emitted from the positionable forward lamp60 or the positionable rearward lamp 64 follows the vehicle 40 until thecontroller 32 no longer detects the vehicle 40 as relevant.

In some embodiments, the controller 32 changes how the lamp(s) 18 a-18d, 60, 64 emit light if the controller 32 determines that vehicle 40(such as the detected light source assumed to be the vehicle 40) ismoving closer to the motorcycle 10 (such as veering 52, 58 toward themotorcycle 10 or into the direction of travel of the motorcycle 10). Forexample, the controller 32 can cause the lamp(s) 18 a-18 d, 60, 64 toemit light in a blinking manner (like a strobe-light) in an attempt tomore urgently warn the vehicle 40 of the presence of the motorcycle 10.In embodiments, the controller 32 determines that the vehicle 40 isveering 52,58 toward the motorcycle 10 by identifying a pixel shift inthe X-Y coordinates of the vehicle 40 (such as the light source from thevehicle 40) over a plurality of image frames. A pixel shift is a changein the X-Y coordinates of the determined center of the vehicle 40 (suchas the light source). For the forward scene 38 a, if the pixel shift istoward the centerline 67 of the pixel array 28 (representative of theforward scene 38 a and thus the midline 68 of the motorcycle 10), thenthe controller 32 can assume that the vehicle 40 is entering the path oftravel of the motorcycle 10 and change the illumination pattern of thelamps 18 a, 18 b, 60 accordingly. For the rearward scene 38 b, if thepixel shift is toward the centerline 72 of the pixel array 28 and alongthe same pixel row or closer to the pixel representative of the rearwardscene 38 b closest to the motorcycle 10, then the controller 32 canassume that the vehicle 40 is progressing closer to the motorcycle 10and change the illumination pattern of the lamps 18 c, 18 d, 64accordingly.

During daytime and other sufficient ambient lighting conditions where itis more difficult to identify light sources as a proxy for the vehicle40, the controller 32 can utilize machine-learned image recognitionalgorithms, such as convolutional neural networks generated usingtraining data. The training data include training image frames, whichdepict real-world road conditions and can be images captured by imagingassemblies. For example, imaging assemblies on other motorcycles cancapture the training image frames as the vehicles operate underreal-world conditions. The training image frames can be analyzed andvehicles nearby the other motorcycles in positions relative to themotorcycles similar to the positions of vehicles 40 can be identified.The pixels of the vehicles in the image frames can be labeled asrepresenting vehicles.

The convolutional neural networks can comprise a plurality of layers,each of which can comprise a plurality of artificial neurons. Using theconvolutional neural networks, the controller 32 analyzes the image datato determine whether regions of the frame of image data depict a vehicle40 near the motorcycle 10. More on convolutional neural networks is setforth in U.S. Pat. No. 10,007,269 B1 (Jun. 26, 2018), the entirety ofwhich is incorporated herein by reference.

As described above, once the controller 32 identifies one or morerelevant vehicles 40, such as vehicles 40 a-40 c, the controller 32 thendetermines which of the lamps 18-18 d, 60, 64 illuminates the region 20of the plurality of regions 20 a-20 d closest to the identifiedvehicle(s) 40. The controller 32 then activates those lamp(s) 18 a-18 d,as the case may be. In the event that the motorcycle 10 includes thepositionable forward lamp 60 and positionable rearward lamp 64, thecontroller 32 can determine the center point (or some other referencepoint) on the X-Y coordinates of the pixel array 28 for the identifiedvehicle(s) 40. The controller 32 then determines the angular deviationα, β and positions the lamp(s) 60, 64 accordingly, in the mannerdescribed above. In addition, as described above, the controller 32changes how the lamp(s) 18 a-18 d, 60, 64 emit light if the controller32 determines that the identified vehicle 40 is moving closer to themotorcycle 10.

As the Background above alludes, the motorcycle 10 described hereinprovides a visual warning not just to the operator of the vehicle 40nearby the motorcycle 10 in the context of highway driving, but also tothe operators of vehicle 40 in a driveway adjacent to a road 92 on whichthe motorcycle 10 is travelling. Referring now to FIGS. 9 and 10 , theimaging assembly 22 a of the motorcycle 10, with the field of view 26 acaptured by the image sensor 24 of the imaging assembly 22 a, captures aforward scene 38 a 1 generally forward of the motorcycle 10. The forwardscene 38 a 1 includes another example vehicle 40 d. The vehicle 40 d isin a driveway 90, which is adjacent to the road 92 on which themotorcycle 10 is traveling. The controller 32 analyzes the image dataand detects the presence of the vehicle 40 d from the image data thatthe image sensor 24 sends to the controller 32. The controller 32 thenactivates the lamp 18 a-18 d that illuminates the region 20 closest tothe vehicle 40 d (such as the lamp 18 a, as illustrated in FIG. 10emitting the light 94) to provide a targeted visual warning to thevehicle 40 d.

The controller 32 can utilize one or more image processing algorithmsstored in the memory 36 and processed by the processor 34 to identifythe vehicle 40 d from the image data, as described above. In anembodiment, as discussed above, during nighttime and other low ambientlighting conditions, the one or more image processing algorithms analyzethe image data from the forward scene 38 a 1 for a signature of a lightemission from a taillight 44 (such as the taillight 44 of the vehicle 40d in the driveway 90). The controller 32 can determine the generallocation of the taillight 44 by determining the X-Y coordinate of thelight source on the pixel array 28 from the forward imaging assembly 22a representing the forward scene 38 a 1, in the manner explained above.The controller 32 then determines which of the plurality of lamps 18a-18 d illuminates most toward the position of the taillight 44. In theforward scene 38 a 1, the taillight 44 of the vehicle 40 d is generallyto the right side 96 of the forward scene 38 a 1, as opposed to the leftside 98 of the forward scene 38 a 1. Because the forward-right lamp 18 ais positioned to illuminate the region 20 a, which is forward and to theright of the motorcycle 10, the controller 32 activates the lamp 18 a toprovide a warning to the vehicle 40 d that the motorcycle 10 is nearby.

If the motorcycle 10 includes the positionable forward lamp 60,described above, that is configured to emit light from the range ofangular positions 62, then the controller 32 can determine the angulardeviation α of the center point of the light source from the centerline67 of the pixel array 28 (and thus of the forward scene 38 a 1 and thusof the midline 68 of the motorcycle 10) that extends from the base pixel69 representing the center of the pixel array 28 closest to themotorcycle 10. The controller 32 then rotates the positionable forwardlamp 60 to the angular position of the range of angular positions 62that matches the angular deviation α and causes the positionable forwardlamp 60 to emit the light 94.

The operator of the vehicle 40 d, seeing the light 94 from the lamp 18 aor the positionable forward lamp 60, may then not backup 100 into theroad 92 in the way of or into the motorcycle 10. As explained above, thecontroller 32 can cause the chosen lamp 18 a-18 d or the positionableforward lamp 60 to emit the light 94 in a different manner if thecontroller 32 determines that the signature of the light source from thevehicle 40 (such as from the taillight 44 of the vehicle 40 d) is movingcloser to the motorcycle 10. For example, the controller 32 can monitorthe image data over a plurality of image frames for a pixel shift in thesignature toward the centerline 67 of the pixel array 28, representingthe vehicle 40 d backing out of the driveway 90 toward (and perhapsinto) the road 92.

During daytime and other sufficient ambient lighting conditions, thecontroller 32 can utilize machine-learned image recognition algorithms,such as convolutional neural networks generated using training data, asexplained above, to determine the presence of a vehicle 40 in a driveway90 and cause the relevant lamp(s) 18 a-18 d, 60 to emit the light 94.

It will be understood by one having ordinary skill in the art thatconstruction of the described disclosure and other components is notlimited to any specific material. Other exemplary embodiments of thedisclosure disclosed herein may be formed from a wide variety ofmaterials, unless described otherwise herein.

For purposes of this disclosure, the term “coupled” (in all of itsforms, couple, coupling, coupled, etc.) generally means the joining oftwo components (electrical or mechanical) directly or indirectly to oneanother. Such joining may be stationary in nature or movable in nature.Such joining may be achieved with the two components (electrical ormechanical) and any additional intermediate members being integrallyformed as a single unitary body with one another or with the twocomponents. Such joining may be permanent in nature or may be removableor releasable in nature unless otherwise stated.

It is also important to note that the construction and arrangement ofthe elements of the disclosure, as shown in the exemplary embodiments,is illustrative only. Although only a few embodiments of the presentinnovations have been described in detail in this disclosure, thoseskilled in the art who review this disclosure will readily appreciatethat many modifications are possible (e.g., variations in sizes,dimensions, structures, shapes and proportions of the various elements,values of parameters, mounting arrangements, use of materials, colors,orientations, etc.) without materially departing from the novelteachings and advantages of the subject matter recited. For example,elements shown as integrally formed may be constructed of multipleparts, or elements shown as multiple parts may be integrally formed, theoperation of the interfaces may be reversed or otherwise varied, thelength or width of the structures and/or members or connectors or otherelements of the system may be varied, the nature or number of adjustmentpositions provided between the elements may be varied. It should benoted that the elements and/or assemblies of the system may beconstructed from any of a wide variety of materials that providesufficient strength or durability, in any of a wide variety of colors,textures, and combinations. Accordingly, all such modifications areintended to be included within the scope of the present innovations.Other substitutions, modifications, changes, and omissions may be madein the design, operating conditions, and arrangement of the desired andother exemplary embodiments without departing from the spirit of thepresent innovations.

It will be understood that any described processes or steps withindescribed processes may be combined with other disclosed processes orsteps to form structures within the scope of the present disclosure. Theexemplary structures and processes disclosed herein are for illustrativepurposes and are not to be construed as limiting.

It is also to be understood that variations and modifications can bemade on the aforementioned structures and methods without departing fromthe concepts of the present disclosure, and further it is to beunderstood that such concepts are intended to be covered by thefollowing claims unless these claims by their language expressly stateotherwise.

What is claimed is:
 1. A motorcycle comprising: a lighting systemincluding a plurality of lamps, each of which is configured to beactivated and deactivated to selectively illuminate a different regionof a plurality of regions relative to the motorcycle, the plurality oflamps comprising forward lamps and rearward lamps; one or more imagingassemblies, each of which includes an image sensor configured togenerate image data during operation of the motorcycle; and a controllerin communication with each of the plurality of lamps that receives asinput the image data that the image sensor of each of the one or moreimaging assemblies generates, analyzes the image data, detects a vehiclefrom the image data, and activates whichever lamp of the plurality oflamps that illuminates the region of the plurality of regions that isclosest to the vehicle to provide a visual warning to the vehicle. 2.The motorcycle of claim 1, the controller analyzes the image data anddetects the vehicle from the image data using an image processingalgorithm that identifies a signature of a light emission from aheadlight or a taillight of the vehicle.
 3. The motorcycle of claim 2,the one or more imaging assemblies includes a forward imaging assemblywith a field of view that is generally forward of the motorcycle; theforward lamps include a forward-right lamp configured to illuminate aforward-right region that is forward and to the right of the motorcycle,and a forward-left lamp configured to illuminate a forward-left regionthat is forward and to the left of the motorcycle; and the controlleranalyzes the image data from the forward imaging assembly and detectsthe vehicle from the image data using the image processing algorithmthat identifies the signature of the light emission from the taillightof the vehicle, and activates whichever of the forward-left lamp or theforward-right lamp that illuminates whichever of the forward-rightregion or the forward-left region that is closest to the vehicle.
 4. Themotorcycle of claim 2, the one or more imaging assemblies furtherincludes a rearward imaging assembly with a field of view that isgenerally rearward of the motorcycle; the rearward lamps include arearward-right lamp configured to illuminate a rearward-right regionthat is rearward and to the right of the motorcycle, and a rearward-leftlamp configured to illuminate a rearward-left region that is rearwardand to the left of the motorcycle; and the controller analyzes the imagedata from the rearward imaging assembly and detects the vehicle from theimage data using the image processing algorithm that identifies thesignature of the light emission from the headlight of the vehicle, andactivates whichever of the rearward-right lamp or the rearward-left lampthat illuminates whichever of the rearward-right region or therearward-left region that is closest to the vehicle.
 5. The motorcycleof claim 1, the image sensor includes a pixel array with X-Ycoordinates; and the controller further determines a position of thevehicle relative to the motorcycle by determining the X-Y coordinates ofthe vehicle on the pixel array.
 6. The motorcycle of claim 5, thecontroller determines that the vehicle is veering toward the motorcycleby identifying a pixel shift in the X-Y coordinates of the vehicle onthe pixel array over a plurality of image frames, and causes the lamp toilluminate the region in a blinking manner.
 7. The motorcycle of claim1, the forward lamps comprising a forward-right lamp configured toilluminate a forward-right region that is forward and to the right ofthe motorcycle; the forward lamps comprising a forward-left lampconfigured to illuminate a forward-left region that is forward and tothe left of the motorcycle; the rearward lamps comprising arearward-right lamp configured to illuminate a rearward-right regionthat is rearward and to the right of the motorcycle; and the rearwardlamps comprising a rearward-left lamp configured to illuminate arearward-left region that is rearward and to the left of the motorcycle.8. The motorcycle of claim 1, the one or more imaging assembliesincluding: a forward imaging assembly with a field of view that isgenerally forward of the motorcycle; and a rearward imaging assemblywith a field of view that is generally rearward of the motorcycle. 9.The motorcycle of claim 1, the one or more imaging assemblies includes aforward imaging assembly with a field of view that is generally forwardof the motorcycle; the forward lamps include a forward-right lampconfigured to illuminate a forward-right region that is forward and tothe right of the motorcycle, and a forward-left lamp configured toilluminate a forward-left region that is forward and to the left of themotorcycle; and the controller analyzes the image data from the imagesensor of the forward imaging assembly, detects the vehicle from theimage data, and activates whichever of the forward-left lamp or theforward-right lamp that illuminates the region of the plurality ofregions that is closest to the vehicle.
 10. The motorcycle of claim 1,the controller causes the lamp of the plurality of lamps to emit lightcontinuously or in a blinking manner during a period of time while thecontroller detects the vehicle and the region of the plurality ofregions that the lamp illuminates is the region of the plurality ofregions that is closest to the vehicle.
 11. The motorcycle of claim 1,the controller determines that the vehicle is veering toward themotorcycle and causes the lamp to illuminate the region in a blinkingmanner.
 12. A motorcycle comprising: a midline; a lighting systemincluding a lamp that is positionable to emit light from an angularposition within a range of angular positions relative to the midline ofthe motorcycle; an imaging assembly including an image sensor configuredto generate image data, and having a field of view that encompasses therange of angular positions from which the lamp can be positioned to emitlight; and a controller in communication with the lamp that receives asinput the image data that the image sensor of the imaging assemblygenerates, analyzes the image data, detects a vehicle from the imagedata, and activates the lamp and adjusts the angular position of thelamp to emit the light toward the vehicle to provide a visual warning tothe vehicle of the motorcycle.
 13. The motorcycle of claim 12, the imagesensor includes a pixel array with X-Y coordinates and a centerlineextending from a base pixel through the pixel array; and the controllerfurther determines the X-Y coordinates of the vehicle on the pixelarray, determines an angular deviation of the vehicle from thecenterline of the pixel array, and adjusts the angular position of thelamp relative to the midline of the motorcycle to match the angulardeviation of the vehicle from the centerline of the pixel array.
 14. Themotorcycle of claim 13, the lamp is positionable to emit light forwardof the motorcycle; the field of view of the imaging assembly is forwardof the motorcycle; and the controller analyzes the image data anddetects the vehicle with an image processing algorithm that identifies asignature of a light emission from a taillight of the vehicle that isforward of the motorcycle, with the X-Y coordinates of the lightemission from the taillight being the X-Y coordinates of the vehicle.15. The motorcycle of claim 14 further comprising: a rearward lamp ofthe lighting system that is positionable to emit light rearward of themotorcycle and from an angular position within a range of angularpositions relative to the midline of the motorcycle; and a rearwardimaging assembly including an image sensor configured to generate imagedata, and having a field of view that is rearward of the motorcycle andencompasses the range of angular positions from which the rearward lampcan be positioned to emit light, the image sensor of the rearwardimaging assembly including a pixel array with X-Y coordinates and acenterline extending from a base pixel through the pixel array; wherein,the controller is in further communication with the rearward lamp,receives as input the image data that the image sensor of the rearwardimaging assembly generates, analyzes the image data from the imagesensor of the rearward imaging assembly, detects a rearward vehicle fromthe image data with an image processing algorithm that identifies asignature of a light emission from a headlight of the rearward vehicle,determines the X-Y coordinates of the rearward vehicle on the pixelarray of the image sensor of the rearward imaging assembly, with the X-Ycoordinates of the light emission of the headlight being the X-Ycoordinates of the light emission from the headlight being the X-Ycoordinates of the rearward vehicle, determines an angular deviation ofthe rearward vehicle from the centerline of the pixel array of the imagesensor of the rearward imaging assembly, adjusts the angular position ofthe rearward lamp to match the angular deviation of the rearward vehiclefrom the centerline of the pixel array of the image sensor of therearward imaging assembly, and activates the rearward lamp to emit thelight toward the rearward vehicle to provide a visual warning to therearward vehicle of the motorcycle.
 16. The motorcycle of claim 13, thelamp is positionable to emit the light rearward of the motorcycle; thefield of view of the imaging assembly is rearward of the motorcycle; andthe controller analyzes the image data and detects the vehicle with animage processing algorithm that identifies a signature of a lightemission from a headlight of the vehicle that is rearward of themotorcycle, with the X-Y coordinates of the light emission from theheadlight being the X-Y coordinates of the vehicle.
 17. The motorcycleof claim 13, the controller causes the lamp to emit light in a blinkingmanner if the controller determines that the vehicle is moving closer tothe motorcycle by identifying a pixel shift in the X-Y coordinates ofthe vehicle over a plurality of image frames.
 18. The motorcycle ofclaim 12, the controller continuously analyzes the image data, andcontinuously adjusts the angular position of the lamp as a function ofthe image data while the controller detects the vehicle from the imagedata, so that the emitted light from the lamp stays directed toward thevehicle.
 19. The motorcycle of claim 12, the controller analyzes theimage data with a convolutional neural network machine-learned imagerecognition algorithm to detect the vehicle and location of the vehiclerelative to the motorcycle.
 20. A motorcycle comprising: a lightingsystem comprising (i) a rearward-right lamp configured to illuminate arearward-right region that is rearward and to the right of themotorcycle, and (ii) a rearward-left lamp configured to illuminate arearward-left region that is rearward and to the left of the motorcycle;a rearward imaging assembly with a field of view that is generallyrearward of the motorcycle, the rearward imaging assembly comprising animage sensor configured to generate image data; and a controller incommunication with the rearward-right lamp and the rearward-left lamp,the controller configured (i) to receive as input the image data thatthe image sensor of the rearward imaging assembly generates, (ii) toanalyze the image data, (iii) to detect a vehicle from the image data,and (iv) to activate whichever of the rearward-right lamp and therearward-left lamp that illuminates whichever of the rearward-rightregion and the rearward-left region that is closest to the vehicle toprovide a visual warning to the vehicle.